Ring Laser Gyro (RLG) - MiniPOS2

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ROV and AUV operations are constantly being pushed to perform more sophisticated tasks in deeper water. MiniPOS2 has the potential to make significant performance improvements in two important areas. Firstly it has a sophisticated Kalman filter which can take aiding inputs from external sensors to give an accurate vehicle position in real-world co-ordinates. Secondly, it can form the heart of a closed-loop ROV control system, acting as a valuable pilot aid for such functions as waypoint navigation, docking and auto-hover.   MiniPOS2 uses the same inertial measurement unit as the MiniRLG2 but it uses the full power of the IMU to give fast and accurate 3D navigation outputs in WGS84 co-ordinates. The performance of MiniPOS2 is fully realised when external sensors are used to aid the inertial position solution. MiniPOS2 can take input from GPS, DVL, and depth sensors. For very high accuracy applications, a higher performance inertial sensor is available as shown in the specifications.   System outputs from the MiniPOS2 include: heading, pitch, roll, depth, X,Y & Z velocities, X,Y & Z accelerations, X,Y & Z angular rates as well as full positional information.   CDL can supply the MiniPOS2 with DVL and depth sensors, preconfigured and calibrated ready to install on your ROV or AUV.   Features: Inertial navigation DVL, GPS, depth input WGS84 output Heading, Pitch, Roll o/p ROV and AUV navigator Packaged with DVL 6,000m depth option     Product Specification: IMU Specification Standard T16 IMU                                                              High performance T24 IMU Free inertial drift Under 5 nautical miles per hour                                       Under 1 nautical miles per hour GPS and Log aiding 10m CEP (circular error probability)                                 10m CEP (circular error probability) EM log only 0.5 nautical miles per hour                                                0.2 nautical miles per hour DVL aiding 20 metres per hour CEP                                    3 metres per hour CEP Standard T16 IMU Heading accuracy                                               0.169 degrees ** Pitch and roll                                                        0.028 degrees * Angular random walk                                         0.02 degrees/root hour Bias Repeatability                                               0.1 degrees/hour* Scale factor repeatability                   75 ppm Axis alignment                                                     20 arc-seconds Heave, surge, sway                                            5% or 5 cm   Telemetry Interface: Bi-Directional RS422 or RS232 Up to 4 x 115kbaud 50/100Hz inertial data with fixed format Up to 4 x 115kbaud, up to 50Hz ASCII data with a variety of user-selectable formats Inputs for GPS, DVL, and depth   Depth Rating: 3,000 metres (Standard) 4,000 metres (Optional) 6,000 metres (Optional)   Power requirements: Consumption                                                       Between 20 and 35W (depends on configuration) Supply Voltage                                                    (AC and DC available as standard) AC                                                                          100-260Vac DC                                                                          20-30Vdc   Weights and Dimensions: Subsea unit                                                          177mm dia x 268 mm         (7.0” dia. X 10.6”) Weight dry                                                             9.8kg                                       (21.6lbs) Weight in water                                     2.33kg                                  (5.13lbs) Mounting (4 holes)                                               M10 144 x 144 mm             (M10 5.67 x 5.67”)   Settling Time 30 minutes from switch on     * RMS ** RMS sec (latitude)